New generation high speed turret and pseudo bang-bang controller

In this paper we report on the development of a new generation high speed turret (HST) and associated pseudo bang-bang controller. The turret was developed as part of a US Army contract and is based on the use of a Lynx T468 motor as the azimuth drive and a similar (smaller) motor for the elevation drive. The T468 motor is a high torque, high-efficiency brushless motor used as direct drive. The pseudo bang-bang controller designed for high-speed maneuvers uses a combination of a high-gain PD controller in the inner loop and a nonlinear strategy in the outer loop to achieve near-minimum-time set point maneuvers with no overshoot and no chattering. Experimental results show an excellent performance with times of less than 600 msec for a 180-degree maneuver.